Dynamic model based formation control and obstacle avoidance of multi-robot systems

被引：74
作者：
De la Cruz, Celso [1 ]
Carelli, Ricardo [1 ]
机构：
[1] Univ Nacl San Juan, Inst Automat, San Juan, Argentina
来源：
ROBOTICA | 2008年 / 26卷 / 03期
关键词：
formation control; dynamic model; nonholonomic; mobile robots; Nonlinear systems;
D O I：
10.1017/S0263574707004092
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a formation control. The controller can be applied both to positioning and to tracking desired robot formations. The formation control can be centralized or decentralized and scalable to any number of robots. A strategy for rigid formation obstacle avoidance is also proposed. Experimental results validate the control system design. © 2008 Cambridge University Press.
引用
收藏
页码：345 / 356
页数：12
相关论文
共 26 条
[1]  
Antonelli G, 2003, IEEE INT CONF ROBOT, P1464
[2]  
Astrom K. J., 1995, ADAPTIVE CONTROL
[3]   Behavior-based formation control for multirobot teams [J].
Balch, T ;
Arkin, RC .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (06) :926-939
[4]  
BALCH T, 2000, IEEE INT C ROB AUT, P73
[5]   Dynamics-based control of robotic swarms [J].
Bishop, Bradley E. .
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, :2763-2768
[6]  
CARELLI R, 2003, 13 INT S MEAS CONTR, P11
[7]   A vision-based formation control framework [J].
Das, AK ;
Fierro, R ;
Kumar, V ;
Ostrowski, JP ;
Spletzer, J ;
Taylor, CJ .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2002, 18 (05) :813-825
[8]  
Desai JP, 1998, IEEE INT CONF ROBOT, P2864, DOI 10.1109/ROBOT.1998.680621
[9]   A decentralized approach to formation maneuvers [J].
Lawton, JRT ;
Beard, RW ;
Young, BJ .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (06) :933-941
[10]   Leader-follower formations: Uncalibrated vision-based localization and control [J].
Mariottini, Gian Luca ;
Morbidi, Fabio ;
Prattichizzo, Domenico ;
Pappas, George J. ;
Daniilidis, Kostas .
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :2403-+
123